mirror of
https://gitee.com/mirrors_PX4/PX4-Autopilot.git
synced 2026-10-16 00:33:35 +08:00
first push on supporting ROS2 Dashing and IDL 4.2
This commit is contained in:
TSC21
@@ -187,6 +187,8 @@ parser.add_argument("-f", "--fastrtpsgen-dir", dest='fastrtpsgen', type=str, nar
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help="fastrtpsgen installation dir, only needed if fastrtpsgen is not in PATH, by default empty", default="")
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parser.add_argument("-g", "--fastrtpsgen-include", dest='fastrtpsgen_include', type=str,
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help="directory(ies) to add to preprocessor include paths of fastrtpsgen, by default empty", default="")
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parser.add_argument("-r", "--ros2-distro", dest='ros2_distro', type=str, nargs='?',
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help="ROS2 distro, only required if generating the agent for usage with ROS2 nodes, by default empty", default="")
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parser.add_argument("--delete-tree", dest='del_tree',
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action="store_true", help="Delete dir tree output dir(s)")
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@@ -236,6 +238,8 @@ if fastrtpsgen_include is not None and fastrtpsgen_include != '':
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os.path.abspath(
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args.fastrtpsgen_include) + " "
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ros2_distro = "" if args.ros2_distro == None else args.ros2_distro
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# If nothing specified it's generated both
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if agent == False and client == False:
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agent = True
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@@ -293,19 +297,30 @@ uRTPS_SUBSCRIBER_H_TEMPL_FILE = 'Subscriber.h.em'
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def generate_agent(out_dir):
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# get FastRTPSGen version
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if(os.path.exists(fastrtpsgen_path)):
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fastrtps_vers = subprocess.check_output(
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[fastrtpsgen_path, "-version"]).strip()[-5:-2]
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if not fastrtps_vers:
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raise Exception(
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"FastRTPSGen failed with code error %s" % fastrtps_vers)
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else:
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raise Exception(
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"FastRTPSGen not found. Specify the location of fastrtpsgen with the -f flag")
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if classifier.msgs_to_send:
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for msg_file in classifier.msgs_to_send:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, ros2_distro, fastrtps_vers, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.alias_msgs_to_send:
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for msg_file in classifier.alias_msgs_to_send:
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@@ -317,28 +332,28 @@ def generate_agent(out_dir):
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_PUBLISHER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_PUBLISHER_H_TEMPL_FILE)
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if classifier.msgs_to_receive:
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for msg_file in classifier.msgs_to_receive:
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_file, msg_dir, "", idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_file, msg_dir, "", out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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if classifier.alias_msgs_to_receive:
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for msg_file in classifier.alias_msgs_to_receive:
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@@ -350,24 +365,24 @@ def generate_agent(out_dir):
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if gen_idl:
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if out_dir != agent_out_dir:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, os.path.join(out_dir, "/idl"), urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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else:
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px_generate_uorb_topic_files.generate_idl_file(msg_name, msg_dir, msg_alias, idl_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, fastrtps_vers, ros2_distro, classifier.msg_id_map)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_SRC_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_topic_file(msg_name, msg_dir, msg_alias, out_dir, urtps_templates_dir,
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_SUBSCRIBER_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_H_TEMPL_FILE)
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_TOPICS_SRC_TEMPL_FILE)
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if cmakelists:
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px_generate_uorb_topic_files.generate_uRTPS_general(classifier.msgs_to_send, classifier.alias_msgs_to_send, classifier.msgs_to_receive, classifier.alias_msgs_to_receive, msg_dir, out_dir,
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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urtps_templates_dir, package, px_generate_uorb_topic_files.INCL_DEFAULT, classifier.msg_id_map, fastrtps_vers, ros2_distro, uRTPS_AGENT_CMAKELISTS_TEMPL_FILE)
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# Final steps to install agent
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mkdir_p(os.path.join(out_dir, "fastrtpsgen"))
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@@ -375,16 +390,12 @@ def generate_agent(out_dir):
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os.chdir(os.path.join(out_dir, "fastrtpsgen"))
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if not glob.glob(os.path.join(idl_dir, "*.idl")):
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raise Exception("No IDL files found in %s" % idl_dir)
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if(os.path.exists(fastrtpsgen_path)):
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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
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"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
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if ret:
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raise Exception(
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"fastrtpsgen failed with code error %s" % ret)
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else:
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raise Exception(
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"fastrtpsgen not found. Specify the location of fastrtpsgen with the -f flag")
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for idl_file in glob.glob(os.path.join(idl_dir, "*.idl")):
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ret = subprocess.call(fastrtpsgen_path + " -d " + out_dir +
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"/fastrtpsgen -example x64Linux2.6gcc " + fastrtpsgen_include + idl_file, shell=True)
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if ret:
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raise Exception(
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"FastRTPSGen failed with code error %s" % ret)
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/*PubSubMain*"))
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rm_wildcard(os.path.join(out_dir, "fastrtpsgen/makefile*"))
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@@ -170,7 +170,7 @@ def generate_output_from_file(format_idx, filename, outputdir, package, template
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return generate_by_template(output_file, template_file, em_globals)
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids):
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def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, fastrtps_ver, ros2_distro, ids):
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"""
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Generates an .idl from .msg file
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"""
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@@ -178,11 +178,11 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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if (alias != ""):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, MsgScope.NONE)
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msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, MsgScope.NONE)
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msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -190,14 +190,18 @@ def generate_idl_file(filename_msg, msg_dir, alias, outputdir, templatedir, pack
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os.makedirs(outputdir)
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template_file = os.path.join(templatedir, IDL_TEMPLATE_FILE)
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.em", str(spec_short_name + "_.idl")))
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if ros2_distro == "ardent" or ros2_distro == "bouncy" or ros2_distro == "crystal":
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.em", str(spec_short_name + "_.idl")))
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else:
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output_file = os.path.join(outputdir, IDL_TEMPLATE_FILE.replace(
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"msg.idl.em", str(spec_short_name + ".idl")))
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return generate_by_template(output_file, template_file, em_globals)
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def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filename_receive_msgs, filename_alias_receive_msgs,
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msg_dir, outputdir, templatedir, package, includepath, ids, template_name):
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msg_dir, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
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"""
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Generates source file by msg content
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"""
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@@ -223,19 +227,19 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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em_globals_list = []
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if send_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, MsgScope.SEND) for f in send_msgs])
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f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in send_msgs])
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if alias_send_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, MsgScope.SEND) for f in alias_send_msgs])
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f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.SEND) for f in alias_send_msgs])
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if receive_msgs:
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em_globals_list.extend([get_em_globals(
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f, "", package, includepath, ids, MsgScope.RECEIVE) for f in receive_msgs])
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f, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in receive_msgs])
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if alias_receive_msgs:
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em_globals_list.extend([get_em_globals(
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f[0], f[1], package, includepath, ids, MsgScope.RECEIVE) for f in alias_receive_msgs])
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f[0], f[1], package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.RECEIVE) for f in alias_receive_msgs])
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merged_em_globals = merge_em_globals_list(em_globals_list)
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@@ -250,7 +254,7 @@ def generate_uRTPS_general(filename_send_msgs, filename_alias_send_msgs, filenam
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return generate_by_template(output_file, template_file, merged_em_globals)
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, template_name):
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def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, package, includepath, ids, fastrtps_ver, ros2_distro, template_name):
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"""
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Generates a sources and headers from .msg file
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"""
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@@ -258,11 +262,11 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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if (alias):
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em_globals = get_em_globals(
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msg, alias, package, includepath, ids, MsgScope.NONE)
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msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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spec_short_name = alias
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else:
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em_globals = get_em_globals(
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msg, "", package, includepath, ids, MsgScope.NONE)
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msg, "", package, includepath, ids, fastrtps_ver, ros2_distro, MsgScope.NONE)
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spec_short_name = em_globals["spec"].short_name
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# Make sure output directory exists:
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@@ -276,7 +280,7 @@ def generate_topic_file(filename_msg, msg_dir, alias, outputdir, templatedir, pa
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return generate_by_template(output_file, template_file, em_globals)
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def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
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def get_em_globals(filename_msg, alias, package, includepath, ids, fastrtps_ver, ros2_distro, scope):
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"""
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Generates em globals dictionary
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"""
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@@ -304,7 +308,9 @@ def get_em_globals(filename_msg, alias, package, includepath, ids, scope):
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"ids": ids,
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"scope": scope,
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"package": package,
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"alias": alias
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"alias": alias,
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"fastrtps_version": fastrtps_ver,
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"ros2_distro": ros2_distro
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}
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return em_globals
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